/*
 * user_bsp.h
 *
 *  Created on: 2017年7月22日
 *      Author: changruowang
 */

#ifndef USER_BSP_H_
#define USER_BSP_H_

#include "iodefine.h"

//#include "math.h"
#include "stdarg.h"
#include "stdio.h"
#include "string.h"

#include "dcmi.h"
#include "led.h"
#include "ctrl_basic.h"
#include "ImDeal.h"
#include "ctrl_control.h"
#include "ctrl_pid.h"
#include "mymath.h"
#include "ctrl_fmu.h"
#include "action.h"
#include "ImrealNew.h"



/*extern Feature_Point_St Feature_Point_E;
extern Point_St Point_t;*/
extern YesNo_t EN_SendMsgToFmu;
extern YesNo_t EN_PID_Calcu;
extern uint8_t Image_Bin[CAMERA_Fit_H][CAMERA_Fit_W];
//extern Fly_Status_St Fly_Status_t;

extern volatile uint8_t Ov7725_vsync;

extern volatile uint16_t sys_5ms;    //system time 5ms
extern volatile uint8_t  Task_Timer[3];
extern uint8_t  recOkFlash;
extern uint8_t ImagRecOK;
//extern Mode_Two_St_Act_t Mode_Two_St_Act;

void ReadOnePic(void);

void CMT0_Interrupt_Deal(void);

void R_SCI5_Serial_Send_Char(uint8_t  tx_char);
void R_SCI1_Serial_Send_Char(uint8_t  tx_char);
void SCI1_Printf(char *fmt,...);

void Image_Deal(void);

void R_FIFO_Create(void);

void MsgFmuToCtrlMy(u8 data);
//void MsgFmuToCtrlMy(void);
//ctr_control
//void SysCtrl_Update_PID(void);
//void SysCtrl_Update_Msg_Ctrl_To_FMU(void);
//void SysCtrl_Update_PID_Calculate(void);
//void SysCtrl_Update_PID_Set(void);

#endif /* USER_BSP_H_ */









